Merge branch 'fix/pywalk' into feature/mujoco

bit-bots · Sep 26, 2024 · 65ca040 · 65ca040
2 parents 06b883c + 3d2c30b
commit 65ca040
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
@@ -54,7 +54,7 @@ namespace bitbots_quintic_walk {
 class WalkNode {
  public:
   explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string &ns = "",
-                    std::vector<rclcpp::Parameter> moveit_parameters = {});
+                    const std::vector<rclcpp::Parameter> &moveit_parameters = {});
   bitbots_msgs::msg::JointCommand step(double dt);
   bitbots_msgs::msg::JointCommand step(double dt, geometry_msgs::msg::Twist::SharedPtr cmdvel_msg,
                                        sensor_msgs::msg::Imu::SharedPtr imu_msg,

diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
@@ -23,8 +23,9 @@ using namespace ros2_python_extension;
 
 class PyWalkWrapper {
  public:
-  explicit PyWalkWrapper(std::string ns, std::vector<py::bytes> walk_parameter_msgs = {},
-                         std::vector<py::bytes> moveit_parameter_msgs = {}, bool force_smooth_step_transition = false);
+  explicit PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs = {},
+                         const std::vector<py::bytes> &moveit_parameter_msgs = {},
+                         bool force_smooth_step_transition = false);
   py::bytes step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
                  py::bytes &pressure_left, py::bytes &pressure_right);
   py::bytes step_relative(double dt, py::bytes &step_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,